clear;clc;close all

load('BusDefine.mat');

A = kron(eye(2),[0,1;0,0]);
B = kron(eye(2),[0;1]);
P = are(A,B*B',1*eye(4))
K = -B'*P

uav1_velocity0 = [0;0;0];
uav1_position0 = [0;0;0];

uav2_velocity0 = [0;0;0];
uav2_position0 = [0;0;0];

uav3_velocity0 = [0;0;0];
uav3_position0 = [0;0;0];

uav4_velocity0 = [0;0;0];
uav4_position0 = [0;0;0];

uav5_velocity0 = [0;0;0];
uav5_position0 = [0;0;0];